Evaluation of hydrodynamic coefficients and sensitivity analysis of a work-class remotely operated vehicle using planar motion mechanism tests

Guo, Ruinan and Zan, Yingfei and Luo, Xiaofang and Ma, Xiandong and Xu, Tiaojian and Han, Duanfeng and Li, Dejun and Bai, Xu (2024) Evaluation of hydrodynamic coefficients and sensitivity analysis of a work-class remotely operated vehicle using planar motion mechanism tests. Ocean Engineering, 312: 119037. ISSN 0029-8018

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Abstract

This paper presents a comprehensive analysis of the hydrodynamic forces and moments relating to the drag on an open-frame work-class remotely operated vehicle (ROV) AUTO-1000. We describe the results of planar motion mechanism experiments conducted with the aim of modeling and simplifying the mathematical maneuverability model for such an ROV. The scale of the model is 1:4. Various experiments are performed in a nonlinear wave channel. The flow speeds in the static drag tests range from ±0.2–±0.5 m/s and the angle in the drift tests is less than 10°. The motion frequencies of the dynamic tests range from 0.25 to 3.14 rad/s. The amplitude of the translation motions is 0.03 m and the largest angular amplitude in the rolling tests is 5°. The viscous and inertial hydrodynamic coefficients are estimated. Normalized sensitivity coefficients are used to investigate the sensitivity of both the viscous and inertial hydrodynamic coefficients considering the multi-degree-of-freedom motion and velocity effect. The drag, drift, and stationary random motions are used to examine the sensitivity. A comparison of the motion simulation results given by simplified and complete models shows that a threshold normalized sensitivity coefficient value of 0.01 is suitable for filtering the ROV coefficients.